In order to analyze dynamic characteristics and the mechanical transfer relationship, a novel mechanics model is proposed based on the transfer matrix method for a complicated rigid-flexure compliant mechanism. Because the compliant mechanism consists of several flexure hinges and bars in sequence, the transfer matrix method is applied to describe its transform relationship between mechanical states. The flexure hinge is treated as an elastic beam with tensile and bending deformation, and the material mechanics theory is applied to build the transfer matrix, which reflects the vibration performance. The bar is regarded as a rigid body, and the dynamic model and the transfer matrix of the vibration of the rigid body is obtained using the theorem of moment of momentum. According to the connection of the compliant mechanism, the total transfer matrix of the system can be obtained by assembling the transfer matrix of each part. The unknown variables of the total transfer equations are the boundary state vector of the compliant mechanism, and the elements of the total transfer matrix are the function with respect to the structural parameters and frequency. The characteristic equation of the compliant mechanism can be obtained by applying the boundary conditions, and the natural frequency and vibration mode can be obtained by solving the equation. The external force is added to the transfer matrix. The extended transfer matrix describing the relationship between external excitation and the system can be built and solved in order to acquire the frequency response. The dynamic characteristic of two kinds of planar compliant mechanisms are analyzed, and the results show that the proposed model is correct, which can accurately describe the mechanical transmission of the compliant mechanism.